Billet handling apparatus



Aug. 3, 1965 Filed March 20. 1961 66 FIG. 2

J. K. FIGENSHAU ETAL 3,198,366

BILLET HANDLING APPARATUS 3 Sheets-Sheet l IN VEN TOR.

JAMES K. FIGENSHAU WILLIAM H. HAlNER ATTORNEY 1965 J. K. FIGENSHAU ETAL 3,198,366

BILLET HANDLING APPARATUS 3 Sheets-Sheet 2 Filed March 20, 1961 INVENTOR. JAMES K. FIGENSHAU WILLIAM H. HAINER 7 2211; ATTORNEY Y B vm m \S g i \8 Q? 0 8 mm m- 0 NN mm emvm 0v g 1965 J. K. FIGENSHAU ETAL BILLET HANDLING APPARATUS Filed March 20, 1961 3 Sheets-Sheet 3 U J Rum m NA Y WMWH E H N 5&3 K C m N OE 03319: B sA w 3. mm A MW u m w Elli] l I. c2 8. l l l I J n United States Patent The present invention relates to forging equipment, and more particularly to a billet handling apparatus designed to grasp and position billets, ingots, bars and the like during forging operations.

Forging equipment often includes material handling devices which are used for charging billets and the like to heating furnaces, withdrawing the heated billets from the furnaces, and thereafter handling and manipulating the articles while said articles are subjected to a forging operation under a forging hammer. in some cases such a forging handler is mounted on a fixed station near a forging hammer; in some cases the handler is mounted on a trolley, which in turn is mounted on a track, rail or the like; and for extreme mobility, the forging handler or manipulator is mounted on a freely movable vehicle such as a fork lift truck, which can be moved about the work area in any direction, between the furnace and the forging hammer at will.

The forging equipment or manipulators of the above type are not always satisfactory, for they have been of relatively large size and great length, costly to manufacture and maintain, have been provided with only limited degrees of movement, have been permanently afiixed to the supporting structure, and the like.

Accordingly, one object of the present invention is to provide an improved billet handling apparatus which is light in weight, highly mobile, and versatile in material handling capabilities.

Another object is to provide a billet handling apparatus which can be effectively used to manipulate billets during forging operations with a high degree of maneuverability.

A further object is to provide an articulated billet handling manipulator having many degrees of freedom which may be readily mounted on a vehicle or other suitable support structure.

Another object is to provide a forging manipulator having an improved shock absorbing system operatively connected to the forging manipulator for minimizing the effect of shocks on the manipulator caused by external forces in excess of predetermined magnitudes.

Other objects and advantages of the invention will become apparent from a consideration of the following specification and drawings. However, before proceeding with a detailed description of our invention, a brief description of the invention will be presented.

Preferably, our billet handling apparatus is disclosed in connect-ion with a fork lift truck; however, it is envisioned that for some uses it could be mounted in combination with another type of supporting vehicle as well, e.g., a track mounted trolley. The billet manipulator consists of a hand or grip, and an articulated boom assembly which are adapted to move relative to each other and to the supporting vehicle. The system is particularly adapted to handle forging billets which are heat-ed in a salt bath or furnace to forging temperatures, and thereafter forged by a forging hammer. Manual controls are provided for actuating the component par-ts of the manipulator.

The invention will best be understood by a reference to the following illustrative embodiment taken in connection with the figures wherein:

FIGURE 1 is a side elevatiohal View of a preferred 3,1?8366 Patented Aug. 3, 1955 ice embodiment of the invention in a fork lift truck having a billet manipulator attached to its forward end;

FIG. 2 is a partial top plan View of the billet manipulator shown in FIG. 1;

FIG. 3 is a partial schematic elevational view of the manipulator, shown in a partially extended position;

FIG, 4 is a partial top plan view of the manipulator shown in FIG. 3;

FIG. 5 is a sectional view taken along line 5-5 of FIG. 3;

FIG. 6 is a sectional view taken along line 6-6 of FIG. 3;

FIG. 7 is a schematic view of the hydraulic circuit employed in the apparatus disclosed, as well as a sche- URE 1, our billet manipulator, designated generally by reference numeral 20, is shown in combination with a .fork truck 10. Said fork truck is com-prisedof a body 12 mounted for movement on wheels 14. Said truck may be of conventional construction and will not be described in detail. Located at the front of the truck is a load supporting upright 16 within which is mounted for vertical movement in a well known manner a load support frame or carriage 18. Attached to the support carriage 18 is a swing frame member 22. Fixedly mounted on said carriage 18 is a swing shaft 34, which is pinned to the swing frame 22 by means of pins 36, and therefore cannot rotate. Retained at the bottom of the swing frame '22 is a thrust bearing 38 for carrying vertical loads.

Swingably connected to the swing shaft 34 is a tilt frame member designated by reference numeral 24. Said tilt frame 24 swings on sleeve bearings 40 about the swing shaft 34, and serves as a mount for the swing drive, which is shown as a rotary torque actuator 42 fastened to the front of the frame 24. Said torque 'actuator 42 imparts a swinging movement to the tilt frame 24 about the shaft 34.

To operate the members, we have used a hydraulic power system which is operatively connected to the hydraulic system of the fork truck it), for transmitting power to the actuators which control the relative movement of the component parts of the manipulator. Although we have shown our invention in connection with a hydraulic power system, it is envisioned that other types of power systems could be used as well. According to one aspect of our invention, the hydraulic system preferably includes shock absorbing means for minimizing the effects of shocks on the manipulator caused by external forces in excess of predetermined magnitudes. This particular feature will be described in greater detail hereinafter. The torque ac t-uators may beany commercially available hydraulically operated actuators and will not be described in detail.

Attached to the output shaft of the actuator 42 is a sprocket 44, which is operatively connected to sprocket 46 by roller chain 48. Sprocket 46 is secured to swing shaft 34 by appropriate means and actuation of sprocket and chain 48 imparts a swinging movement to the tilt frame 24 about shaft 34.

Located at the lower front of the tilt frame 24 are two journal bearings 50 and 52. Mounted in said journal bearings is a tilt shaft 54, which has its longitudinal axis substantially perpendicular relative to the longitudinal axis of the swing shaft 34. Pivotally connected to the til-tframe 24 by means of the tilt shaft 54 is a boom support frame or forearm 26 which carries a boom member 28, as well as means for imparting telescopic movement to said boom member 23 relative to the boom support 26. Said means will'be described in greaterdetail hereinafter.

Connected to the upper front of the tilt frame 24 are two flanges or tabs 56 .and58. Connected to said tabs are elongated boom tilt actuators 6i) and 62. Said actuators serve as means for effecting pivotalmo-vement of the boom support 26 about the tilt shaft 54. Actuators 6t) and 62 are connected to boom support 26 by means of flanges 64 and 66, which in turn are connected to boom support 26 by suitable means such as bolts 72. Actuators 6t} and 62 may be commercially available actuators, such as the piston and cylinder type, and will therefore not be described in detail.

=Boom member 28 is mounted for telescopic movement in the boom support 26 by means of rail bars 68 and 70 which are secured to opposite sides of the boom member 28, e.g., by welding (note FIGS. 4 and 5). Rotatably attached to the side walls of the boom support 26, by bolts 72, are a plurality of cam followers 74, which are longitudinally spaced along the side walls of said boom support 26. Said cam followers 74 aid in supporting and guiding the boom member 28 as it moves telescopically relative to the boom support 26. Telescopic movement is imparted to the boom member by means of piston and cylinder actuator 76. Actuator 76 has one end thereof connected to the boom support 26 by means of clevis 78, and the secend end thereof connected to the movable boo-m member 28, by means of a reciprocally movable piston rod 30 and clevis 82.

Positioned on top of the boom support 26 and secured thereto in a suitable manner is a first housing 84, and positioned on top of the boom member 28 and secured thereto in a suitable manner is a second housing 86. Housing 86 is adapted to fit within housing 84 and is movable with respect to said housing 84 as the boom member 28 moves telescopically relative to the boom support 26. Located within the .top surface of the boom support 26 is a rec- .tangular opening 83 to accommodate housing 86 when the boom member is in a retracted position. Similarly, located in the top of housing 84 is an elongated slot 91), for a purpose to be described below.

Located at the projecting end of boom member 28 is a wrist housing, designated generally by reference numeral 30, said wrist housing being secured to the boom member ,28 and housing 86 by suitable means such as bolts. Said wrist housing 30 in turn supports a hand or grip mechanism 32. Supported within the wrist housing 30 by means 7 of journal bearings 92 is a cylindrical wrist sleeve 94 which has an annular flange 96 at'its projecting end. Lo-

- cated at the opposite end of said sleeve 94 is a castellated nut and washer assembly 18. Positioned within the wrist sleeve 94 and secured to flange 9'6 is a cylindrical hand housing 1%. Housing 1116 is provided with bushings 162, which supports push rod 104, which in turn connects the hand linkage to the actuating means.

A torque actuator 106, mounted within housing 86 and secured to the top surface of boom member 28, is used to impart a rotational movement to the wrist sleeve 94, about the longitudinal axis of the manipulator. Secured to the output shaft of actuator 106 is a drive gear 1% which meshes with gear 110, said gear 110 being secured to sleeve 94.

Hand or grip member 32 is actuated by means of a grip actuator 112 mounted on the inside top surface of th boom member 28. Said actuator is connected by means of a disconnect-coupling 114 to the push rod 104. Grip forces of the hand are developed by actuation of a piston and cylinder actuator 112, which pushes or pulls rod 104, thus opening or closing hand 32.

As stated above, we use a hydraulic power system for causing movement of the actuators. Fluid is supplied to actuators 106 and 112 through conduits 116. Flange 118 and clamp 120, connected to actuator 106 are provided as means for moving conduits 116 relative to boom support 26, as the boom member 28 is projected or retracted. ISlot 90 provides an opening in housing 84 so that clamp 1120 may move freely within housing 84.

Reference is made to FIG. 7 which discloses the circuit employed in our hydraulic system, as well as one example of a control valve suitable for use in the system. Briefly, the system operates at a relatively low pressure, i.e., 350 psi. (pounds per square inch) maximum. The fluid medium is preferably tapped from the fork lift trucks hydraulic system and brought to a manifold for distribution to the various control valves. Said valves could be manually operated, electrically operated, or the like. For purposes of illustration, we have shown the valve as being electrically operated by using the electrical system of th fork truck as a power source. Regulation of the control valves in turn permits or prevents the fluid medium from flowing to the actuators.

The fluid medium is tapped from the high pressure side of the fork trucks hydraulic system and flows through line 122, adjustable pressure reducing valve 124, which reduces the pressure from a relatively high pressure to a desired lower pressure, and then to manifold 126, where it is distributed, through a supply line or conduit 128, to the control valves 13f Valves 130 may be commercially available 3-position valves. The fluid medium there-after flows through conduit 132 or 134, depending upon the position of the control valve 131 to the actuators. The fluid medium completes the circuit by thereafter flowing through conduit 132 or 134, dependent again upon the position of the control valve, through exhaust line or conduit 136 and ultimately to sump 138. We have provided an adjustable pressure relief valve 14f? which aids in regulating the amount of pressure in the system.

As noted above, control valve 130 may be manually operated, electrically operated, or the like. Said valve has a movable plunger 142 which is provided with a pair of passages 144 and 146. Said passages provide a means for the fluid medium to flow from supply line 128 selectively to either conduit 132 or 134, and thereafter to the actuator. Note actuator 76, which has a plunger 79 connected to rod 8!). Fluid pressure causes the plunger to move and thus causes the boom member to be telescopically moved relative to boom support 26.

As shown in FIG. 7, valve 136 is in the closed position, that is, the fluid medium cannot pass from supply line 128 to either conduit 132 or 134-. Plunger 142 is actuated in an upward direction or a downward direction, a viewed in FIGURE 7, by means of solenoid 148 or solenoid 150, said solenoids being electrically connected to power source 152. Switches 154 and 156 actuated solenoids 148 and 159 respectively. The remaining control valves are actuated in a similar manner and will not be described in detail. For easier handling, the switches for actuating the solenoids for all the control valves could be mounted on a control panel adjacent to the operator of the m'anipul.ator

As stated hereinbefore, a special feature of our hydraulic system according to the invention is the provision of a shock absorbing means for minimizing the effects of shocks on the manipulator in excess of predetermined magnitudes. We have provided a relief system, designated generally by reference numeral 157, for relieving the fluid medium from conduits 132 and 134 in the event that a pressure in excess of a predetermined magnitude is created in the hydraulic system. For purposes of illustration we have shown only one of the relief systems in detail. Note that actuator 76 is provided with adjustable relief valve 158, which permits cylinder dumping in case of externally applied shock loads in excess of the particular pressure to which the valve has been pre-set. We might mention, that if desired, all the actua-tors could be provided with a imilar shock absorber relief valve arrangement. However, for purposes of illustration we have shown only the one in connection with the forearm telescoping actuator. The relief valve, with its shock absorbing action, effectively protects the fork lift truck, its operator, and its hydraulic system from high shock loads associated with forging operations.

In this system we provide check valves 166, 162, and

164, as a means for maintaining the flow of the fluid medium in one relative direction in a particular part of the circuit. Thus, a back-flow of the fluid medium in that particular part of the circuit is prevented in the event that an external shock is encountered by the member being actuated. Check valves of this nature are well known in the art, and are commercially available for various degrees of desired pressure settings. As an illustration, valve 160 could have a setting of a relatively low p.s.i., so as to prevent any baclofiow whatsoever in the supply line 128. Similarly, valves 162, and 164 could likewise have a low setting so as to prevent the fluid medium from flowing in more than one relative direction, thus aiding to cause the fluid medium to flow toward relief valve 158 from either conduit 132 or 134 depending on the direction of the shock to be absorbed.

For illustrative purposes, consider that the system is to operate at a maximum pressure of 300 psi. Relief valve 140 would be pro-set o as to relieve fluid from the system if a higher pressure were attained. The fluid medium would flow through manifold 126 and through supply line 128. Check valve 160 would have a relatively low setting, e.g., 5 psi, so that the fluid medium could not flow in the reverse direction if the back pressure surpassed 5 psi.

If line 132 is to be the desired supply line from valve 130 to actuator '76, and line 134 the exhaust line from actuator 76, then switch 154 is actuated, thus forcing plunger 142 in a downward direction as viewed in FIG. 7, thus aligning passage 144 with lines 132 and 134 and permitting the fluid medium to flow through line 132 towards actuator '76, and through line 134 away from the actuator,

If, on the other hand, it were desired that the actuator be driven in the reverse direction, switch 156 would be actuated, this in turn would cause the solenoid 150 to force plunger 142 in an upward direction a viewed in FIG. 6, thereby aligning passages 146 with lines 132 and 134. In this instance the fluid medium would flow from supply line 128 to line 134, and from line 132 into the exhaust line 136. Under normal conditions, the fluid medium would flow through valve 130, and exhaust line 136 into sump 138.

Check valves 162 and 164 would normally have a loW setting e.g., 5 p.s.i., so as to assure a flow of the fluid medium toward release valve 158, which in turn would be pre-set at 300 psi. so as to relieve fluid from the system if a higher pressure were attained. If for example, a shock force were applied to the manipulator so that the pressure in either line 132 or 134 surpassed 300 p.s.i., valve 158 would open and the fluid medium would be relieved from the system. Valves 130 are commercially available which can withstand a relatively high degree of pressure, so that no damage would normally be caused to the control valve mechanism.

In operation, the lift truck is freely movable about the work area. A heated billet is grasped by the hand 32, the grasping action being achieved by means of actuator 112. Thereafter said billet is subjected to a forging operation by a forging hammer. In order to obtain better positioning of the billet relative to the hammer, it may be desirable to do any one or more of the following: rotate the hand 32 about the longitudinal axis of the manipulator, the relative rotation being accomplished by means of actuator 106; extend or retract the boom member 28 relative to the boom support 26, this relative movement being accomplished by means of actuator 76; tilt the boom support by pivoting said support about a horizontal pivot shaft 54, the pivotal movement being accomplished by means of actuators 60 and 62; or swing the manipulator about a vertical swing shaft 34, the swinging movement being accomplished by means of actuator 42. In addition, the entire manipulator or boom assembly and grip may be raised or lowered in a vertical direction by raising or lowering the load sup- 6 port carriage 18 in a manner well known in the fork lift truck art.

In the above description and the attached drawings, a disclosure of the principles of this invention is presented, together with some of the ways in which the invention may be carried out.

We claim:

1. A billet handling apparatus for use during for ing operations comprising in combination a movable lift truck having a vertically movable load support frame thereon, a swing shaft fixedly mounted with respect to said support frame so that its longitudinal axis is in a substantially vertical direction, a tilt frame swingably connected to said swing shaft, actuator means mounted on said tilt frame for swinging said tilt frame about the swing shaft, an elongated boom support pivotally connected to the tilt frame, said boom support being pivotal about a pivot axis which is substantially normal to the axis of the. swing shaft, actuator connected to the tilt frame for pivoting said boom support about the pivot axis, a boonrmember having a projecting end mounted within the boom support for reciprocal movement along the longitudinal axis of said support, actuator means mounted within the boom support for imparting reciprocal movement to said boom, a Wrist member carried by the projecting end of the boom for rotation about the longitudinal axis of said boom, actuator means mounted on the boom member for effecting rotation of said wrist member, a grip mechanism mounted on the wrist member so as to be disengageable therefrom, actuator means mounted within the boom member for effecting gripping movement of the grip mechanism coupling means for detachably connecting the grip mechanism to the actuator means, and a pressure relief system operatively connected to the handling apparatus for minimizing the effect of shocks on said handling apparatus caused by external forces in excess of predetermined magnitudes.

2. The combination of claim 1 wherein at least one of the actuator means is hydraulically actuated, tubular conduits are provided and valve control mean i provided for regulating the flow of fluid medium through conduits to the actuator means, the pressure relief system including at least one adjustable relief valve operatively connected to the conduits, said relief valve adapted to release fluid from the conduits when an external force in excess of the predetermined magnitude is exerted against the handling apparatus.

References Cited by the Examiner UNITED STATES PATENTS 980,004 12/10 Reeder 214-28 1,881,169 10/32 Brosius 214-32 1,998,180 4/35 Yiugling 262-18 2,345,572 4/44 Brosius 7896 2,541,045 2/51 Ferwcrds et .al. 214-132 2,557,484 6/51 Wagner et al 212-59 X 2,677,475 5/54 Davies et al. 2l4-652 2,717,705 9/55 Jacobson. 2,741,895 4/56 Horvath 60-53 2,784,861 3/57 Nelson 214653 2,812,090 11/57 Westling 214652 2,914,203 11/59 Gainer,

2,921,701 1/60 Ireland 212-55 2,933,210 4/60 Dye 2l4-651 X 2,993,605 7/61 Smith 212-55 3,019,918 2/62 Keener 214- 3,033,059 5/62 Melton et al.

3,044,635 7/ 62 Kirsten 21255 3,05 1,328 8/62 Brown et al.

GERALD M. FORLENZA, Primary Examiner.

HUGO O. SCHULZ, ERNEST A. FALLER, MORRIS TEMIN, Examiners. 

1. A BILLET HANDLING APPARATUS FOR USE DURING FORGING OPERATIONS COMPRISING IN COMBINATION A MOVABLE LIFT TRUCK HAVING A VERTICALLY MOVABLE LOAD SUPPORT FRAME THEREON, A SWING SHAFT FIXEDLY MOUNTED WITH RESPECT TO SAID SUPPORT FRAME SO THAT ITS LONGITUDINAL AXIS IS IN A SUBSTANTIALLY VERTICAL DIRECTION, A TILT FRAME SWINGABLY CONNECTED TO SAID SWING SHAFT, ACTUATOR MEANS MOUNTED ON SAID TILT FRAME FOR SWINGING SAID TILT FRAME ABOUT THE SWING SHAFT, AN ELONGATED BOOM SUPPORT PIVOTALLY CONNECTED TO THE TILT FRAME, SAID BOOM SUPPORTED BEING PIVOTAL ABOUT A PIVOT AXIS WHICH IS SUBSTANTIALLY NORMAL TO THE AXIS OF THE SWING SHAFT, ACTUATOR MEANS CONNECTED TO THE TILT FRAME FOR PIVOTING SAID BOOM SUPPORT ABOUT THE PIVOT AXIS, A BOOM MEMBER HAVING A PROJECTING END MOUNTED WITHIN THE BOOM SUPPORT FOR RECIPROCAL MOVEMENT ALONG THE LONGITUDINAL AXIS OF SAID SUPPORT, ACTUATOR MEANS MOUNTED WITHIN THE BOOM SUPPORT IMPARTING RECIPROCAL MOVEMENT TO SAID BOOM, A WRIST MEMBER CARRIED BY THE PROJECTING END OF THE BOOM FOR ROTATION ABOUT THE LONGITUDINAL AXIS OF SAID BOOM, ACTUATOR MEANS MOUNTED ON THE BOOM MEMBER FOR EFFECTING ROTATION OF SAID WRIST MEMBER, A GRIP MECHANISM MOUNTED ON THE WRIST MEMBER SO AS TO BE DISENGAGEABLE THEREFROM, ACTUATOR MEANS MOUNTED WITHIN THE BOOM MEMBER FOR EFFECTING GRIPPING MOVEMENT OF THE GRIP MECHANISM COUPLING MEANS FOR DETACHABLY CONNECTING THE GRIP MECHANISM TO THE ACTUATOR MEANS, AND A PRESSURE RELIEF SYSTEM OPERATIVELY CONNECTED TO THE HANDLING APPARATUS FOR MINIMIZING THE EFFECT OF SHOCKS ON SAID HANDLING APPARRATUS CAUSED BY EXTERNAL FORCES IN EXCESS OF PREDETERMINED MAGNITUDES. 